"You do not have Manage Auditing rights" is a different error than "Access Denied" so you might be making progress.
First, If you have UAC Enabled, turn it off fully to see if that's your issue:
reg.exe ADD HKLM\SOFTWARE\Microsoft\Windows\CurrentVersion\Policies\System /v EnableLUA /t REG_DWORD /d 0 /f
Now, if you're running RoboCopy with /COPYALL, change it to /DATSO to skip audit rights.
-OR-
Add the necessary rights for the user in gpedit.msc:
> Computer > Windows Settings > Security Settings > Local Policies > User rights > Manage auditing and security log